version: 66.02
glider: 118
mission: 6
dive: 394
start: 10 5 107 6 41 10
data:
$ID,118
$MISSION,6
$DIVE,394
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,45
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51630
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17353.461
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2415
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3800
$C_VBD,3229
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-6.9690108
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,061937,4741.310,-12251.466,36,1.5,36,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-53.8
$GPS2,064051,4741.188,-12251.612,13,1.1,13,18.3
$SPEED_LIMITS,0.151,0.202
$TGT_NAME,10_XC
$TGT_LATLONG,4741.454,-12251.414
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,8.4,551,-15.7,-7.037
$D_GRID,95
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.70,-107.5,0.0,0.0,0,141,0.00,0.00,-107.68,0.000,2,0.000,0.000,427,2501,3093
$GC,145,-1.70,-107.5,2.1,-3.2,18,183,12.40,2.53,-18.08,0.000,4,0.162,0.061,2627,1105,3670
$GC,207,-1.70,-107.5,6.1,-6.8,27,213,0.00,2.42,0.00,0.000,6,0.000,0.035,2627,2498,3671
$GC,280,-1.70,-107.5,12.9,-9.1,38,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2499,3672
$GC,353,-1.70,-107.5,18.3,-6.9,49,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2499,3673
$GC,424,-1.70,-107.5,23.1,-7.2,57,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2499,3673
$GC,615,-1.70,-107.5,36.2,-7.3,72,620,0.00,2.60,0.00,0.000,4,0.000,0.070,2627,3905,3674
$GC,757,-1.70,-107.5,46.8,-7.6,82,761,0.00,2.42,0.00,0.000,6,0.000,0.033,2627,2490,3674
$GC,953,-1.70,-107.5,61.4,-7.2,97,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2483,3674
$GC,1143,-1.70,-107.5,74.6,-6.8,112,1147,0.00,2.62,0.00,0.000,4,0.000,0.067,2626,3901,3674
$GC,1295,-1.70,-107.5,85.3,-7.4,123,1299,0.00,2.40,0.00,0.000,6,0.000,0.034,2626,2493,3674
$STATE,1442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1442,begin apogee
$GC,1450,-0.50,0.0,95.5,6.5,134,1540,1.25,0.00,81.85,0.603,6,0.090,0.000,2885,2408,3229
$STATE,1541,end apogee,CONTROL_FINISHED_OK
$STATE,1541,begin climb
$GC,1544,1.70,107.5,97.9,0.0,142,1637,2.22,2.55,81.05,0.586,4,0.059,0.052,3369,1037,2789
$GC,1703,1.70,107.5,86.1,10.2,155,1708,0.00,2.42,0.00,0.000,6,0.000,0.034,3369,2423,2790
$GC,1899,1.70,107.5,66.6,9.4,170,1904,0.00,2.58,0.00,0.000,4,0.000,0.067,3369,3820,2790
$GC,1978,1.70,107.5,57.9,11.2,175,1984,0.00,2.42,0.00,0.000,6,0.000,0.031,3369,2416,2790
$GC,2174,1.70,107.5,39.0,9.5,191,2179,0.00,2.53,0.00,0.000,4,0.000,0.054,3369,1022,2790
$GC,2272,1.70,107.5,28.9,10.2,198,2279,0.00,2.45,0.00,0.000,6,0.000,0.034,3369,2416,2790
$GC,2473,1.70,107.5,10.8,10.7,221,2479,0.00,2.58,0.00,0.000,4,0.000,0.067,3369,3815,2790
$STATE,2596,end climb,SURFACE_DEPTH_REACHED
$STATE,2596,begin surface coast
$FINISH,0.1,1.004176
$STATE,2629,end surface coast,CONTROL_FINISHED_OK
$STATE,2629,begin surface
$SM_CCo,2662,137.27,0.522,0,0,1598,400.08
$SM_GC,0.87,0.00,0.00,137.27,0.000,0.000,0.522,430,2472,1598,-11.82,-0.79,400.08
$IRIDIUM_FIX,4726.11,-12250.84,051007,101007
$TT8_MAMPS,0.067496
$HUMID,1782
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.3,42.4
$24V_AH,24.1,31.053
$10V_AH,10.1,24.187
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,28.950,34.950,162.900,137.275,0.000,157.972,211.585,543.142,1.750,0.000,4292.000,13.883,454.365,1554.224,436.785,461.952,1176.863,0.000,724.099,0.000,460.548,0.000,10.134
$DEVICE_MAMPS,161.837,69.797,602.862,521.560,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.482,0.000,0.000,0.000,0.000,0.000,0.000,4292.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,6429,245
$CFSIZE,260034560,245637120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,072907,4741.333,-12251.484,15,1.0,31,18.3